Hopping Motion Estimation on Soft Soil by Resistive Force Theory | Zendy

Kosuke Sakamoto | Zendy; Masatsugu Otsuki | Zendy; Takashi Kubota | Zendy; Yoshiki Morino | Zendy

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Hopping Motion Estimation on Soft Soil by Resistive Force Theory

Author(s) -

Kosuke Sakamoto,

Masatsugu Otsuki,

Takashi Kubota,

Yoshiki Morino

Publication year - 2017

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2017.p0895

Subject(s) - traverse , terrain , resistive touchscreen , computer science , motion (physics) , simulation , control theory (sociology) , aerospace engineering , engineering , geology , artificial intelligence , geodesy , computer vision , ecology , control (management) , biology

Various planetary terrains or asteroids, which are hard to traverse with wheeled platforms, are expected to be explored. Bekker’s model cannot be applied to estimate the motions of rovers without wheels, such as the hopping rover (hopper). In this paper, the resistive force theory (RFT) approach is introduced. This approach is not based on Bekker’s model, and is expected to apply to any platform. However, this RFT approach only applies to static or quasi-static motion, such as in the case of slow motions. To apply the RFT approach to dynamic motions, such as hopping, the effect of velocity as a dynamic variable is also studied. Through the hopping experiments, the effectiveness of RFT with the velocity-term approach is investigated and compared to the RFT approach.

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